/*******************************************************************************
* This file implements the PID control system to control the roll, pitch and
* yaw of the QuadCopter.
*
* Author: Kong Wai Weng @ Cytron Technologies Sdn. Bhd.
*******************************************************************************/



#ifndef _CONTROL_H
#define _CONTROL_H



#include <math.h>
#include "hal_ic.h"
#include "hal_oc.h"
#include "hal_adc.h"
#include "variables.h"
#include "task.h"
#include "dcm.h"
#include "airspeed.h"
#include "system.h"
#include "navigation.h"



/*******************************************************************************
* PUBLIC FUNCTION PROTOTYPES                                                   *
*******************************************************************************/

/*******************************************************************************
* TASK: taskControlLoop
*
* DESCRIPTIONS:
* This task is the PID control loop and will get executed every 5ms (200Hz).
*
*******************************************************************************/
portTASK_FUNCTION_PROTO(taskControlLoop, pvParameters);



#endif
